if (${WITH_CARTOGRAPHER} STREQUAL "ON")
    message(STATUS "Find Ceres")
    find_package(Ceres REQUIRED)
    set(CERES_INCLUDE_DIRS ${THIRD_PACKAGES_DIR}/ceres-solver/include)
    include_directories(${CERES_INCLUDE_DIRS})
    set(CERES_LIBRARIES ${THIRD_PACKAGES_DIR}/ceres-solver/lib/libceres.a)
    message(STATUS "CERES_INCLUDE_DIRS:${CERES_INCLUDE_DIRS}")
    message(STATUS "CERES_LIBRARIES:${CERES_LIBRARIES}")
    message(STATUS "Find absl")
    find_package(absl REQUIRED)
    set(ABSL_INCLUDE_DIRS ${THIRD_PACKAGES_DIR}/abseil-cpp/include)
    include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
    file(GLOB ABSL_LIBRARIES ${THIRD_PACKAGES_DIR}/abseil-cpp/lib/*.a)
    message(STATUS "ABSL_INCLUDE_DIRS:${ABSL_INCLUDE_DIRS}")
    message(STATUS "ABSL_LIBRARIES:${ABSL_LIBRARIES}")
    message(STATUS "Find cartographer")
    find_package(cartographer REQUIRED)
    set(CARTOGRAPHER_INCLUDE_DIRS ${THIRD_PACKAGES_DIR}/cartographer/include)
    include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
    set(CARTOGRAPHER_LIBRARIES ${THIRD_PACKAGES_DIR}/cartographer/lib/libcartographer.a)
    message(STATUS "CARTOGRAPHER_INCLUDE_DIRS:${CARTOGRAPHER_INCLUDE_DIRS}")
    message(STATUS "CARTOGRAPHER_LIBRARIES:${CARTOGRAPHER_LIBRARIES}")
endif ()
